Download - KRSBI 2013 Rules and Setup

Buku Panduan KRCI Robo Soccer Humanoid League 2013 versi 1.0

KONTES ROBOT SEPAK BOLA INDONESIA (KRSBI) 2013

RoboSoccer Humanoid league

Kid Size

I. PENDAHULUAN

Kontes Robot Sepak Bola Indonesia (KRSBI) tahun 2013 ini adalah nama baru bagi Kontes Robot Cerdas Indonesia (KRCI) Robo Soccer Humanoid League (RSHL) tahun 2012 yang diselenggarakan sejak tahun 2009 dengan nama awal KRCI Expert Battle. KRSBI merupakan kontes robot sepak bola nasional yang sekaligus menjadi ajang kualifikasi nasional untuk mewakili Indonesia dalam RoboCup yang merupakan kompetisi robot sepakbola resmi tingkat dunia di bawah organisasi RoboCup (http://www.robocup.org), seperti organisasi FIFA dalam kejuaraan dunia sepakbola manusia.

Kontes robot nasional divisi sepak bola ini adalah salah satu program kreatifitas mahasiswa yang sangat strategis yang ke depannya didesain untuk dapat menjadi unggulan obyek penelitian dan edukasi rekayasa robotika tingkat dunia dengan kiblat langsung kepada komunitas yang sama di seluruh dunia. Divisi ini lahir di tahun 2009 dengan tema awal mirip robot pemadam api namun berhadap-hadapan untuk berebut memadamkan api.

Pada tahun 2010, yaitu tahun ke-2 nama divisinya disederhanakan menjadi KRCI Divisi Battle dengan tingkat kesulitan yang lebih tinggi, yaitu pengenalan obyek. Temanya menghendaki robot memiliki kemampuan pengenalan citra (image) melalui kamera karena obyek yang diperebutkan adalah bola-bola berwarna tertentu yang diletakkan di tempat-tempat tertentu. Hal ini sebagai persiapan untuk secara total divisi ini berafiliasi ke RoboCup divisi Kid Size Humanoid League Robo Soccer.

Melihat kemujuan teknik seluruh tim peserta nasional di tahun 2010 yang meningkat pesat maka tahun 2011 dianggap sebagai saat yang tepat untuk mengusung tema kontes robot sepakbola seperti di RoboCup meskipun topik yang diambil pada tahun itu adalah kelas challenge dengan obyek bola lebih dari satu. Dengan tema ini robot harus dapat mengenali bola menggunakan kamera dan goal atau gawangnya sendiri agar tidak salah memasukkan bola. Baru pada tahun 2012 tema utama seperti yang digelar di RoboCup diterapkan penuh, yaitu dua tim dengan maksimal masing-masing 3 robot saling berhadapan seperti pada permainan sepakbola yang sesungguhnya.

Buku Panduan KRCI Divisi Battle: RoboSoccer Humanoid League 2013 versi 1.0 4

Dari hasil evaluasi penyelenggaraan kontes selama empat tahun pada divisi ini dan diselaraskan dengan arahan Kemendikbud agar kualitasnya dapat makin mendunia maka sejak tahun 2012 divisi ini disepakati oleh Dewan Juri Nasional kontes robot di Indonesia untuk dikembangkan tingkat kesulitannya dengan mengadopsi tema utama dalam divisi Humanoid league – Robo Soccer di kontes internasional RoboCup yang diselenggarakan berturut-turut pada tahun 2011 di Turki, 2012 di Mexico dan 2013 rencananya digelar di Eindhoven Belanda. Pada tahun 2012 Indonesia mengirim wakilnya ke RoboCup 2012 di Mexico dan berhasil menempatkan timnya - EROS dari PENS yang menjadi juara nasional tahun 2011 - hingga babak 16 besar dan berada di urutan ke-12.

Sesuai dengan namanya: humanoid league, maka dalam divisi ini peserta diharuskan membuat robot humanoid, robot mirip manusia dengan tinggi antara 30 hingga 60 cm yang dapat bermain sepakbola seperti pada pertandingan sepakbola yang sangat populer di masyarakat. Hal ini sesuai dengan arahan kebijakan pemerintah melalui Direktorat Penelitian dan Pengabdian kepada Masyarakat (Dit Litabmas) Sub Direktorat Kreatifitas dan Pengabdian kepada Masyarakat (KPM) - DIKTI KEMDIKBUD - untuk makin banyak mengirim pemenang dan hasil-hasil kontes robot di tingkat nasional ke tingkat internasional. Tujuannya adalah agar mahasiswa Indonesia makin terpacu untuk berkarya dan berprestasi di tingkat dunia melalui ajang kreatifitas kontes robot.

Harapan lebih jauh ke depan, sesuai dengan cita-cita organisasi ROBOCUP internasional (http://www.robocup2010.org, http://www.robocup2011.org atau http://www.robocup2012.org ), yaitu bahwa pada tahun 2050 organisasi ini mampu mencetak tim sepakbola robot yang mampu melawan tim juara dunia sepakbola, maka mahasiswa Indonesia peminat robotika sudah seyogyanya turut andil aktif sebagai peneliti, bukan hanya menjadi penonton. Dampak positif secara nasional mahasiswa dapat makin terpacu untuk berkreasi mengikuti perkembangan dunia robotika yang secara tidak langsung juga akan meningkatkan pemahaman dan penguasaan iptek dan aplikasi robotika dalam dunia industri masa depan.

II. TEMA

Tema KRSBI 2013 adalah: “LIGA SEPAKBOLA ROBOT HUMANOID”

III. RULE OF THE GAME

Aturan main dalam KRSBI tahun 2013 divisi KidSize Humanoid League ini diadopsi sepenuhnya dari RoboCup Soccer Humanoid League Rules and Setup yang digunakan dalam RoboCup 2012 divisi Humanoid League tipe KidSize di Mexico. Robot dalam divisi KidSize ini berukuran antara 30 hingga 60 cm. Secara umum setiap pertandingan antara dua tim yang berhadap-hadapan dilaksanakan dalam 2 x 5 (atau 10) menit dengan masa istirahat di paruh pertandingan selama maksimal 5 menit. Setiap tim terdiri dari maksimal tiga robot humanoid yang salah satunya harus diprogram sebagai penjaga gawang dengan dua lainnya sebagai pemain penyerang atau bertahan. Peraturan


selengkapnya RoboCup Soccer Humanoid League Rules and Setup 2012 dapat dilihat di Lampiran.

3.1 Tim Robot

Tim Robot harus berasal dari Perguruan Tinggi yang terdiri dari 3 (tiga) mahasiswa aktif, termasuk mahasiswa program pascasarjana, dan 1 (satu) dosen pembimbing.

3.2 Spesifikasi Robot

Robot yang dipertandingkan harus memenuhi spesifikasi tipe robot KidSize seperti yang tercantum dalam RoboCup Soccer Humanoid League Rules and Setup 2012 (lihat di Lampiran).

3.3 Lapangan Pertandingan Lihat di RoboCup Soccer Humanoid League Rules and Setup 2012 di Lampiran. 3.4 Sistem Pertandingan dan Penilaian

Pertandingan dan penilaian dilaksanakan sepenuhnya mengacu pada RoboCup Soccer Humanoid League Rules and Setup 2012 untuk kelas KidSize.

IV INFORMASI TAMBAHAN dan FAQ (FREQUENTLY ASK QUESTIONS)

Informasi Tambahan dan kolom FAQ akan diberikan sesuai dengan kebutuhan hingga menuju hari pertandingan.

V PENDAFTARAN PESERTA

Tiap Perguruan Tinggi dapat melakukan pendaftaran untuk ikut serta dengan pertamakali mengirimkan proposal ke alamat:

Panitia Pusat KRSBI 2013 Direktorat Penelitian dan Pengabdian kepada Masyarakat (Dit Litabmas) Gedung Direktorat Jenderal Pendidikan Tinggi (DIKTI) Lantai 4. Kementerian Pendidikan dan Kebudayaan Nasional (KEMDIKBUDNAS) Jl. Jend. Sudirman Pintu I, Senayan-Jakarta, 10002.

Proposal berisi setidak-tidaknya:

5.1. Identitas tim yang terdiri dari satu pembimbing (dosen) dan tiga anggota tim (mahasiswa aktif) disertai dengan lembar pengesahan dari pejabat di perguruan tinggi.


5.2. Bentuk rekaan robot yang akan dibuat disertai penjelasan tentang sistem prosesor, sensor dan aktuator yang akan digunakan.

5.3. Penjelasan secara singkat tentang strategi yang akan digunakan dalam pertandingan.

VI BIAYA PEMBUATAN ROBOT, TRANSPORTASI DAN AKOMODASI

PESERTA 6.1. Untuk pertandingan tingkat regional panitia hanya akan menanggung biaya

akomodasi selama berada di lokasi pertandingan. Biaya pembuatan robot dan transportasi adalah tanggungjawab masing-masing tim.

6.2. Untuk pertandingan tingkat nasional, peserta akan mendapat bantuan biaya untuk pembuatan robot, akomodasi dan transportasi dari/ke daerah asal ke/dari tempat pertandingan.

VII SIMPOSIUM KRSBI 2013 (ISRSC 2013) Untuk menjadikan forum yang lebih ilmiah dari KRSBI 2013 ini, seperti yang dilakukan dalam divisi Humanoid League RoboCup, maka mulai tahun 2013 akan dilaksanakan sebuah simposium atau seminar yang wajib diikuti oleh para peserta tingkat nasional KRSBI 2013. Berikut adalah informasi dan tanggal-tanggal penting Simposium KRSBI 2013:

§ Nama simposium: Indonesian Symposium on Robot Soccer Competition (ISRSC) 2013.

§ Peserta/pemakalah wajib: tim peserta yang lolos ke tingkat nasional (dengan mengangkat tema robot dari tim yg bersangkutan)

§ Peserta/pemakalah reguler: kelompok peneliti (mahasiswa, dosen, praktisi) § Pembicara kunci: (akan ditentukan kemudian)

§ Topik simposium: all related issues on robot soccer competition and technology. § Format makalah: double columns, Times-New Roman, 10pt, maksimum 5

halaman, ditulis dalam bahasa Indonesia atau Inggris. Penulisan dalam bahasa Inggris adalah sangat disarankan untuk persiapan jika jadi wakil ke RoboCup 2014.

§ Batas akhir pengiriman full paper: 15 Mei 2013

§ Pemberitahuan makalah yg lolos cetak ke proceeding: 22 Mei 2013 § Batas akhir pengiriman camera ready full paper: 29 Mei 2013

§ Hari simposium: Kamis, 13 Juni 2013 § Kontribusi Peserta (Biaya Pendaftaran): akan ditentukan kemudian.


§ Tempat simposium: venue kontes robot nasional 2013 (akan diumumkan kemudian)

§ Program Chairman: Dr. Endra Pitowarno dan Prof. Dr. Bambang Riyanto § Alamat kontak dan pengiriman makalah: [email protected]

VIII JADWAL DAN TEMPAT KONTES

Jadwal Lengkap KRSBI 2013 adalah sebagai berikut: a. Pengumuman awal Rule of Game: 5 Oktober 2012.

b. Pengiriman Proposal: Proposal harus sudah sampai di Gedung DIKTI (lihat V) paling lambat pada 28 Desember 2012 pk.16:00 WIB.

c. Pengumuman Tahap I (proposal): 16 Januari 2013. d. Pengiriman Laporan Kemajuan berupa video dan slide Power Point tim robot:

paling lambat 1 Maret 2013 (alamat sama dengan b.). e. Pengumuman Tahap II (peserta tingkat regional): 14 Maret 2013.

f. Kontes tingkat regional: akan diumumkan kemudian.

IX PENYELENGGARA Direktorat Penelitian dan Pengabdian kepada Masyarakat (Dit Litabmas) Direktorat Jenderal Pendidikan TInggi (DIKTI) Kementerian Pendidikan dan Kebudayaan Nasional (KEMDIKBUDNAS) Jl. Jend. Sudirman Pintu I, Senayan-Jakarta, 10002. TEL. 021-5700049, 5731251, 5731956 (hunting) ext. 1855. FAX. 021-5732468.

IX ALAMAT KONTAK

Dr. Ir. Endra Pitowarno, M.Eng, Tel: 031-5947280 ext. 2106, HP: 0812.3030.162, Email: [email protected], Mailing List: [email protected] Ertanto Budi K, Dit Litabmas - DIKTI, E-mail: [email protected]


LAMPIRAN A

RoboCup SoccerHumanoid LeagueRules and SetupFor the 2012 Competition in Mexico City

Louis Vuitton Cup

Draft of December 23, 2011Rule changes from 2011 to 2012 are either marked in magenta text color(for additions) or by crossed out text (for deletions).

RoboCup Humanoid League Mailing List (to be used for rule discussion and questions):https://lists.cc.gatech.edu/mailman/listinfo/robocup-humanoid

RoboCup Humanoid League Home Page: http://www.tzi.de/humanoid/

RoboCup Humanoid League Wiki: http://wiki.robocup.org/wiki/Humanoid League

https://lists.cc.gatech.edu/mailman/listinfo/robocup-humanoid

http://www.tzi.de/humanoid/

http://wiki.robocup.org/wiki/Humanoid_League

CONTENTS i

Contents

Table of Contents i

Preamble iii

1 The Field of Play 11.1 Playing Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.2 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.3 Landmark Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.4 Lighting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.5 People Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 The Ball 6

3 The Number of Players 63.1 Incapable Players . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63.2 Substitutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63.3 Temporal Absence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4 The Design of the Robots 74.1 Robot Height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74.2 Weight Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84.3 Size Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84.4 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84.5 Communication and Control . . . . . . . . . . . . . . . . . . . . . . . . 104.6 Colors and Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114.7 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114.8 Robustness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114.9 Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

5 The Referee 12

6 The Assistant Referees 13

7 The Duration of the Match 147.1 Periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147.2 Timeouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

8 The Start and Restart of Play 158.1 Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158.2 Kick-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158.3 Dropped Ball . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

9 The Ball In and Out of Play 17

2012 RoboCup Soccer Humanoid League Rules and Setup

CONTENTS ii

10 The Method of Scoring 17

11 Offside 17

12 Fouls and Misconduct 1812.1 Ball Manipulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1812.2 Physical Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1812.3 Attack and Defense . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1912.4 Indirect Free Kick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1912.5 Yellow and Red Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

13 Free Kicks 22

14 The Penalty Kick 23

15 The Throw-In 25

16 The Goal Kick 25

17 The Corner Kick 25

18 The Dribble and Kick Competition (AdultSize) 26

19 The Technical Challenge 2719.1 Part A: Throw-In Challenge . . . . . . . . . . . . . . . . . . . . . . . . 2719.2 Part B: Obstacle Avoidance and Dribbling . . . . . . . . . . . . . . . . 2919.3 Part C (KidSize and TeenSize): Double Pass . . . . . . . . . . . . . . . 2919.4 Part C (AdultSize): The Footrace . . . . . . . . . . . . . . . . . . . . . 3019.5 Part D: High-Kicking Challenge . . . . . . . . . . . . . . . . . . . . . . 31

20 The Competitions and Trophies 3220.1 Setup and Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . 3220.2 Referee Duty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3220.3 Competitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3220.4 Best Humanoid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3320.5 Trophies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

A The Trend in Rule Evolution for the Next Years 35

B Human Reference Data 37

Acknowledgements 38


CONTENTS iii

PreambleThese rules are intended to ensure a fair competition in the RoboCup Soccer HumanoidLeague. They want to encourage creativity and technical development.

The rules are oriented towards the FIFA Laws of the Game. However, they still deviatein many points from the FIFA laws, but it is intended to decrease these deviations inthe future, in order to work towards the long-term goal of playing with humanoid robotsagainst human soccer teams.

Among the research challenges that are specific to the Humanoid League is maintainingthe dynamic stability of the bipedal robots while they are walking, running, kicking, andperforming other tasks. Another example is the coordination of perception (with ahuman-like limited field of view) and locomotion. The humanoid soccer robots must alsobe robust enough to deal with challenges from other players.

Size ClassesAs it is not feasible to have humanoid robots of very different sizes play against eachother, the competitions are held in three size classes: KidSize, TeenSize and AdultSize.See Section 4 for the definition of these classes.

Male and FemaleReferences to the male gender in the rule book in respect of referees, assistant referees,players and officials are for simplification and apply to both males and females.


1 The Field of Play 1

1 The Field of PlayThe competitions take place on a rectangular field, which contains two goals, field lines,and two landmark poles, as shown in Fig. 1.

Figure 1: Humanoid robot soccer field (not to scale). (Note: line D now correctlypositioned)

Table 1: Dimensions of the rectangular field of soccer play (in cm).

KidSize TeenSize & AdultSize AdultSizeA Field length 600 900 600B Field width 400 600 400C Goal depth 50 60D Goal width 150 260E Goal area length 60 100 60F Goal area width 300 450 300G Penalty mark distance 180 210 180I Center circle diameter 120 150 120J Border strip width (min.) 70K Distance of pole to field 40



1.1 Playing SurfaceThe field consists of a flat and even ground which is covered with green carpet. Thewhite lines are 5 cm wide. Line segments of 10 cm length are used to denote penalty markand the kick-off position (center mark). The longer outer field lines are called touch lines,whereas the shorter outer field lines are called goal lines. The field is surrounded by aborder strip, which is also covered with green carpet. The world outside the border stripis undefined.

1.2 GoalsA goal is placed in the middle of each goal line. One of the goals has a colored yellowframe. The other goal frame is colored blue. Nets in grey or black color are attachedto the goals and the ground behind the goal, provided that they are properly supportedand do not interfere with the goalkeeper. The mesh size for this net is suggested to beless than 4 cm in order to keep the risk of entanglement low. The upper side of the goalshould not be covered by a net in order to allow for easy access to the robots from above.The goals for the KidSize field have a crossbar at a height of 80 cm. The height of thenet is the same and it is open from the top (see Fig. 2). The TeenSize and AdultSizegoals have a crossbar at height of 180 cm and the height of the net is 120 cm. The goalposts and crossbars are white and cylindrical and have a diameter of 10 cm (see Fig. 2).

1.3 Landmark PolesThe two landmark poles are placed at each of the two intersection points between thetouch line and the center line. The landmark poles have a diameter of 10 cm. Theyconsist of three segments of 15 cm height, placed above each other. The lowest and thehighest segments are colored in the same color as the goal at its left side (see Fig. 3).

1.4 LightingThe lighting conditions depend on the actual competition site. Lighting temperaturemay differ significantly from previous years, as only ceiling lights are used. The fieldis illuminated presuming a sufficient bright and constant lighting on the field (i.e. nodaylight).

1.5 People AreaAround the field of play (Figure 1) a field zone is defined on site in which only the referee(Section 5), the assistant referees (Section 6) and the two robot handlers are allowed tostay during the game. All persons in the field zone must be clothed in black or dark-greybelow the waist including the feet. The field zone must give sufficient space to thereferees and robot handlers for passing behind the landmark poles and the goals. Allother people (including other team members, organizational staff, representatives of the



Figure 2: KidSize (top) and Teen-/AdultSize (middle) goals; bird’s eye view of goallayout (bottom).



Figure 3: Humanoid soccer fields with goals to scale for KidSize (top) and Teen/AdultSize(bottom).



press and the media etc.) must stay outside the field zone.


3 The Number of Players 6

2 The BallEach size class uses its own ball:

1. KidSize: Standard size orange tennis ball,

2. TeenSize: Orange FIFA size 3 ball, at least 50% orange,

3. AdultSize: Orange FIFA size 5 ball, at least 50% orange.

3 The Number of PlayersA match is played by two teams, each consisting of not more than three players inKidSize and not more than two players in TeenSize, one of whom must be designated asgoalkeeper. A match may not start if either team consists of less than one player.

3.1 Incapable PlayersPlayers not capable of play (e.g. players not able to walk on two legs, players not ableto stand, or players with obvious malfunctions) are not permitted to participate in thegame. They must be removed from the field. It is up to the referee to judge whether aplayer is capable of play. The referee may ask the team leader of a player suspected tobe incapable of play to demonstrate playing ability at any time. A field player that is notable to get back into a stable standing or walking posture from a fall within 20 secondswill be removed from the field for 30 seconds removal penalty and has to reenter thefield according to 3.3.

3.2 SubstitutionsUp to two players per game can be substituted by other players of the same team. Thereferee must be informed prior to the substitution. A substitute only enters the field afterthe player being replaced left the field and after receiving a signal from the referee. Anyof the other players may change places with the goalkeeper, provided that the referee isinformed before the change is made and that the change is made during a stoppage ofthe match. Exchanging a field player with a goalie does not count as substitution.

3.3 Temporal AbsenceServicing robots on the playing field is not permitted. A robot may be taken out ofthe field for service, after receiving permission from the referee. Taking out a robot forservice does not count as a substitution. A serviced robot may not come into play againbefore 30 s elapsed after it was taken out. It has to enter the field at the one of the twoendpoints of the halfway line which the referee decides. It has to face the center of thefield when entering. (Replaced by 5.9)


4 The Design of the Robots 7

4 The Design of the RobotsRobots participating in the Humanoid League competitions must have a human-like bodyplan, as shown in Fig. 4. They must consist of two legs, two arms, and one head, whichare attached to a trunk. The robots must be able to stand upright on their feet andto walk on their legs. The only allowed modes of locomotion are bipedal walking andrunning.

All actions of the robots must be kinematically equivalent to humanoid motions.

Figure 4: Example of a humanoid robot body plan (left) and standing upright pose(right).

4.1 Robot Height4.1.1. The height H of a robot is determined as follows:

H = min {Htop, 2.2 ·Hcom} , (1)

where Htop denotes the height of the robot when standing upright (with fully extendedknees, cf. Fig. 4 right) and Hcom denotes the height of the robot’s center of mass,measured in upright posture.

4.1.2. Based on H, the following size restrictions apply:

• 30cm ≤ H ≤ 60cm to play in the KidSize class,

• 100 90cm ≤ H ≤ 120cm to play in the TeenSize class.

• 130cm ≤ H ≤ 160cm to play in the AdultSize class.A robot larger than 160cm may be allowed to play in the AdultSize class, providedthat:



– H < 180cm and

– the robot fits at all times into a vertical cylinder of diameter 130cm.

4.2 Weight RestrictionsThe maximum weight for robots allowed to play in the TeenSize class is 20 kg.

4.3 Size RestrictionsAll robots participating in the Humanoid League must comply with the following restric-tions:

1. Each foot must fit into a rectangle of area H2/30.

2. Considering the rectangle enclosing the convex hull of the foot, the ratio betweenthe longest side of the rectangle and the shortest one, shall not exceed 2.5

3. The robot must fit into a cylinder of diameter 0.55 ·H.

4. If the arms are maximally stretched in horizontal direction, their extension The sumof the lengths of the two arms and the width of the torso at the shoulder must beless than 1.2 · H. The length of an arm is defined as the sum of the maximumlength of any link that forms part of the arm. Both arms must be the same length.

5. The robot does not possess a configuration where it is extended longer than 1.5·H.

6. The length of the legs Hleg, including the feet, satisfies 0.35 ·H ≤ Hleg ≤ 0.7 ·H.

7. The height of the head Hhead, including the neck, satisfies 0.05 · H ≤ Hhead ≤0.25 · H. Hhead is defined as the vertical distance from the axis of the first armjoint at the shoulder to the top of the head.

8. The leg length is measured while the robot is standing up straight. The length ismeasured from the first rotating joint where its axis lies in the plane parallel to thestanding ground to the tip of the foot.

4.4 SensorsTeams participating in the Humanoid League competitions are encouraged to equip theirrobots with sensors that have an equivalent in human senses. These sensors must beplaced at a position roughly equivalent to the location of the human’s biological sensors.In particular,

1. The only active external sensor allowed is sound (“human-like” with respect tovolume and frequency) with one loudspeaker on the robot. The loudspeaker maybe placed in the head, neck or trunk of the robot. Any other active sensor (emittinglight, sound, or electromagnetic waves into the environment in order to measurereflections) is not allowed.



2. External1 sensors, such as cameras and up to two microphones, may not be placedin the legs or arms or the torso of the robots. They must be placed in the robot’shead and above any neck joint.

3. The field of view of the robots is limited at any time to 180 degrees. This meansthat the maximum angle between any two points in the overlap of the field ofview of all cameras mounted on the robot must be less than 180 degrees. Alsothe pan-tilt motion of the head and the cameras mounted on the robot’s head isrestricted to be more human like not only with respect to the field of view butalso to the range of motion of the neck joints. Therefore, the mechanism to panthe camera is limited to 270 degree pan which means ± 135 degrees from theposition looking straight ahead. The mechanism to tilt the camera is limited to ±90 degrees (measured from the horizontal line). Furthermore, if positioned at thecenter mark the robot may not be able to see both goals in any tilt angle and inany standing or walking posture of the robot.

Figure 5: Illustration of field of view.

“Field of view” refers to the field of view of all cameras together and of how muchof the soccer field all cameras together can view at most at one time. By howmuch the soccer field can be viewed by the robot at most one time is defined bya half sphere with its center axis pointing in the forward direction with respect tothe robot’s frontal plane as shown in Figure 5.

4. The number of cameras is limited to a stereo vision setup (i.e., max. 2 cameraswith a large overlap) only. Monocular vision is also allowed.

5. Touch sensors, force sensors, and temperature sensors may be placed at any posi-tion on the robot.

1External sensors are sensors that measure external state (e.g. sound, light). Correspondingly internalsensors measure internal states of the robot (e.g. temperature, posture, pitch, etc).



6. Sensors inside the robot may measure all quantities of interest, including (but notlimited to) voltages, currents, forces, movements, accelerations, magnetic field androtational speeds. They can be at any position inside the robot.

4.5 Communication and Control4.5.1. Robots participating in the Humanoid League competitions must act au-

tonomously while a competition is running. No external power supply, teleoperation,remote control, or remote brain of any kind is allowed.

4.5.2. Robots may communicate only via the wireless network provided by the organizerswhich must support the referee box. The total bandwidth of the robots belonging toone team may not exceed 1MBaud. The robots must not rely on availability or qualityof the wireless network. They must be able to play if the network is not available or oflow quality. Only robots are allowed to communicate by WLAN. Any other computersof team members are only allowed to communicate by tethered LAN. No other wirelesscommunication is allowed onsite. All other wireless hardware must be deactivated. Ateam may be disqualified if one of the team members violates this rule.

4.5.3. Robots of a team may communicate with each other at any time during a game.They may receive start and stop signals from an off-the field computer. This computeris only allowed to listen to the wireless communication while the ball is in play. It maybe used to send game-control signals (e.g. kick-off, penalty, free kick, ...) to the robotsduring game stoppages. Any other kind of transmission from an external computer tothe playing robots is prohibited. The start and stop signal are to be sent via UDP whenthe ball is not in play (e.g. from a game controller/referee box via UDP broadcast).This implies that any monitoring is only done by receiving UDP communication from therobots. Sending any other transmission from an external computer to the robots has totake place during a timeout or using a direct cable between the computer and the robotduring maintenance of the robot.

In 2009 a prototype of a game controller/referee box has been introduced. Duringthe game an official game controller/referee box will be used. It uses UDP to broadcastinformation to the robots like elapsed time, current score, game state (ready, set, playing,finished) and the robot-specific penalized state. The source code is open.2 To encourageteams to use the referee box, 10 seconds advantage is given to teams using the refereebox in any stoppage of the game (cf. Section 8).

4.5.4. No humans are allowed on the field while the ball is in play. Robot handlers mustreceive permission from the referee prior to entering the field. Each team may designateonly one person as robot handler. The robot handler of a team may not touch a robot ofanother team in order to avoid any (unintentional or intentional) damage to that robot.

2The source code of the game controller/referee box is available fromhttp://sourceforge.net/projects/robocupgc/, see also http://www.tzi.de/humanoid.


http://sourceforge.net/projects/robocupgc/

http://www.tzi.de/humanoid


4.6 Colors and Markers4.6.1. Robots participating in the Humanoid League competitions must be mostly black

or of dark grey color (i.e. RAL 7011 Iron Grey or darker) and non reflective. Robotsmay also be colored in aluminimum-like silver, grey or white but then their feet must becolored black. Any color used for the field (green, yellow, blue) or the ball (orange) orthe opponent team’s team markers must be avoided. Arms, legs and bodies of the robotmust be of solid shape appearance.

4.6.2. The robots must be marked with team markers. These markers are coloredmagenta for one team and cyan for the other team. Robot legs and arms must becovered by team markers. If both teams cannot agree, which team color to use, a coinwill be flipped 15 minutes prior to the game to assign the team colors.

4.6.3. The robots of each team must be uniquely identifiable. They must be markedwith numbers or names. The goal keeper robot must be marked uniquely that it can beeasily distinguished from the other robots of a team by the referees.

4.7 Safety4.7.1. Robots participating in the Humanoid League competitions must not pose any

danger to humans, other robots, or the field of play. This specificially includes construc-tions that are objectively able to cause said dangers, for example poles sticking out ofthe robot. Anyone is allowed to take every action necessary to prevent urgent harm.

4.7.2. The robots must be constructed in a way that offenses described in Section 12are avoided. Robots violating above the safety requirements of 4.7.1 will be excluded bythe referee from the ongoing game. They may be excluded by the league organizationcommittee from the remainder of the tournament.

4.8 RobustnessRobots participating in the Humanoid League competitions must be constructed in arobust way. They must maintain structural integrity during contact with the field, theball, or other players. Their sensing systems must be able to tolerate significant levelsof noise and disturbance caused by other players, the referees, robot handlers, and theaudience.

4.9 HandlingRobots are encouraged to feature a handle attached in the neck area for vertical lifting.They should tolerate this without causing harm to themselves or the person holding thehandle.


5 The Referee 12

5 The Referee5.1. Each match is controlled by a referee who has full authority to enforce these rules

in connection with the match to which he has been appointed.

5.2. The referee ensures that the field and the ball are in proper condition. He ensuresthat the robot players meet the requirements of Section 4.

5.3. The referee acts as timekeeper and keeps a record of the match. He stops, suspendsor terminates the match, at his discretion, for any infringements of the rules orbecause of outside interference of any kind.

5.4. The referee allows play to continue when the team against which an offense hasbeen committed will benefit from such an advantage and penalizes the originaloffense if the anticipated advantage does not ensue at that time.

5.5. He punishes the more serious offense when a player commits more than one offenseat the same time and takes disciplinary action against players guilty of cautionableand sending-off offenses. He is not obliged to take this action immediately butmust do so when the ball next goes out of play.

5.6. The referee takes action against team officials who fail to conduct themselves ina responsible manner and may, at his discretion, expel them from the field of playand its immediate surrounds. He ensures that no unauthorized persons enter thefield of play.

5.7. The referee acts on the advice of assistant referees regarding incidents which hehas not seen. Some referee duties, like time keeping and keeping a record of thematch, may be delegated to one of the assistant referees.

5.8. The decisions of the referee regarding facts connected with play are final. The ref-eree may only change a decision on realizing that it is incorrect or, at his discretion,on the advice of an assistant referee, provided that he has not restarted play.

5.9. The referee decides from which center of the two touch lines a penalized, servicedor substituted player may re-enter the field. The player has to face the center ofthe field when entering.


6 The Assistant Referees 13

6 The Assistant Referees6.1. One or more assistant referees are appointed for a match whose duties, subject to

the decision of the referee, are to indicate when the whole of the ball has passedout of the field of play, which side is entitled to a corner kick, goal kick or throw-in,and when misconduct or any other incident has occurred out of the view of thereferee.

6.2. The assistant referees might be assigned additional duties, such as time keeping,and keeping a record of the match and controlling the game controller/referee box.

6.3. The assistant referees also assist the referee to control the match in accordancewith these rules.

6.4. In the event of undue interference or improper conduct, the referee will relieve anassistant referee of his duties and make a report to the league organizing committee.


7 The Duration of the Match 14

7 The Duration of the Match

7.1 Periods7.1.1. The match lasts two equal periods of 10 minutes. Players are entitled to an

interval at half-time. The half-time interval must not exceed 5 minutes.

7.1.2. Allowance is made in either period for all time lost through, e.g. substitution(s),timeouts, and wasting time. The allowance for time lost is at the discretion of the referee.If at the end of either period the referee has the impression that a goal is imminent,allowance is made for up to 30 s at the referee’s discretion to finish the current move.

7.1.3. In the knock-out games of a tournament two further equal periods of 5 minuteseach are played if the game is not decided after the regular playing time. If duringregular playing time none of the two teams in a knock-out match was able to kick theball to reach their respective opponent’s goal the extra time is skipped and the gameimmediately continues by the five alternating penalty kick trials (cf. Section 14).

7.2 TimeoutsA team may extend a stoppage of the game by taking a timeout. During a timeoutrobots may be serviced. Each team may take at most one timeout per period. If a teamis not ready to resume the game when the referee wants to start the game, it has to takea timeout. If there is no timeout left, the referee will start the game anyway. A timeoutends automatically after 120 s. A timeout also ends when the team signals its end to thereferee.


8 The Start and Restart of Play 15

8 The Start and Restart of Play

8.1 Preliminaries8.1.1. Access to the field is given to both teams at least 15 minutes prior to the scheduled

kick-off time. A coin is tossed and the team which wins the toss decides which goal itwill attack in the first half of the match. The other team takes the kick-off to start thematch. The team which wins the toss takes the kick-off to start the second half of thematch. In the second half of the match the teams change ends and attack the oppositegoals.

8.1.2. If both teams cannot agree on the color of their team markers, a coin is tossedand the markers are exchanged at halftime.

8.1.3. A match must start at the scheduled time. In exceptional situations only, thereferee may re-adjust the time for starting the game in accordance with both teamleaders. All robots of a team are started (and stopped) by receiving a signal throughwireless communication from outside the field. In exceptional cases, starting and stoppingrobots manually may be allowed by the referee.

8.2 Kick-off8.2.1. A kick-off is a way of starting or restarting play at the start of the match, after a

goal has been scored, at the start of the second half of the match, at the start of eachperiod of extra time, where applicable. After a team scores a goal, the kick-off is takenby the other team.

8.2.2. A goal may not be scored directly from the kick-off. Either the ball must move20 cm from the kick-off point or must be touched by another player before being kickedtowards the goal.If the ball is kicked directly towards the goal the kick-off is awarded to the opposingteam.

8.2.3. The procedure for kick-off is as follows:

• The referee gives the signal “READY” that all robots have to reach their own halfof the field. Robots not being able to position autonomously in their own half maybe placed by their respective robot handler.

• The opponents of the team taking the kick-off are outside the center circle untilthe ball is in play.

• The referee gives the signal “SET”. The referee calls robots illegally positioned tobe set back manually by the respective robot handler to the outer line of their goalarea. One field player of a manually or illegally positioned team suffers a removalpenalty (cf. Section 12).


8 The Start and Restart of Play 16

• The ball is stationary on the center mark.

• The referee gives the signal “PLAY” or whistles.

• The ball is in play when it is touched or 10 seconds elapsed after the signal.

8.2.4. Robots being able to autonomously reposition themselves can take any position onthe field that is consistent with above requirements. Robots not able to autonomouslyreposition themselves, e.g. robots being carried or joysticked around by human teammembers, have to start from a position not closer to the field halfway line than the outerline of the goal area. If all robots of the team executing the kick-off cannot autonomouslyreposition themselves, then one robot may be placed into the center circle.

8.2.5. If one or both of the teams in a match have permission to use a manual startupprocedure, the referee gives the two signals “SET” and “PLAY” with an interval ofexactly 10 seconds. Robot players without remote start capability may be started on thefield after the “SET” signal. They may not move before the “PLAY” signal was givenby the referee. Robots with autonomous positioning ability are given between 15 and 30seconds for re-positioning after a goal has been scored by one of the teams before the“SET” signal for kick-off is given by the referee. All human team members must leavethe field of play immediately after the “SET” signal and before the “PLAY” signal.

8.2.6. A team which uses manual kick-off and not kick-off with the referee box ispunished by a penalty of having to wait for 10 seconds after the signal “PLAY” beforethey are allowed to locomote. If such a team has kick-off then at the signal “PLAY” thereferee immediately moves the ball from the kick-off position to a position somewhereon the center line and outside of the center circle and the ball is in play.

8.2.7. If a robot is moving for a significant time between “SET” and “PLAY” signalsor repeatedly violates Rules 8.2.3 or 8.2.6, it will be punished by a removal penalty (cf.Section 12).

8.2.8. If a robot handler has not left the field by the “PLAY” signal, a yellow card isshown to the robot closest to the incident. If the game has been influenced, the kick-offwill be repeated and the team that committed the offence has to start from a positionnot closer to the field halfway line than the outer line of the own goal area.

8.3 Dropped Ball8.3.1. A dropped ball is a way of restarting the match after a temporary stoppage which

becomes necessary, while the ball is in play, for any reason not mentioned elsewhere inthe rules. In particular, the referee may call a game-stuck situation if there is no progressof the game for 30 s.

8.3.2. The game is continued at the center mark. A goal can be scored directly from adropped ball. The procedure for dropped ball is the same as for kick-off, except that therobots of both teams must be outside the center circle. The ball is in play immediatelyafter the referee gives the signal.


11 Offside 17

8.3.3. If a player moves too close to the ball before the referee gives the signal, a kick-offis awarded to the opponent team.

9 The Ball In and Out of Play9.1. The ball is out of play when it has wholly crossed the goal line or touch line whether

on the ground or in the air or when play has been stopped by the referee.

9.2. The ball is in play at all other times, including when it rebounds from a goalpost,crossbar, human, or robot and remains in the field of play.

10 The Method of Scoring10.1. A goal is scored when the whole of the ball passes over the goal line, between the

goalposts and under the crossbar, provided that no infringement of the rules hasbeen committed previously by the team scoring the goal. A goal can not be scoredby the opponent’s goal keeper throwing the ball without it first touching anotherplayer.

10.2. The team scoring the greater number of goals during a match is the winner. Ifboth teams score an equal number of goals, or if no goals are scored, the match isdrawn.

10.3. For knock-out matches ending in a draw after regular time, extra time, penaltykicks, and scoring times will be used to determine the winner of a match.

10.4. An abandoned match is replayed unless the league organization committee decidesotherwise. If a team chooses to forfeit a match in the round robin games the otherteam plays on an empty goal. If a team chooses to forfeit in a knock-out gamethe other team continues in the competition. Teams may choose to forfeit gamesat any stage prior to the end of the game.

10.5. If the current score in a match has a goal difference of 10 goals (e.g., 10:0, 11:1,12:2 etc.), then the referee will terminate the match and the score will be recordedas the current score.

11 OffsideThe offside rule is not applied.


12 Fouls and Misconduct 18

12 Fouls and Misconduct

12.1 Ball ManipulationManipulation of the ball by robot players is guided by the following principles:

1. Players may exert force onto the ball only by direct physical contact with one oftheir body parts, excluding their hands, arms, and shoulders (with the exceptionof the goal keeper within his own goal area).

2. The ball may be kicked with the whole foot. Kicking devices which differ from thehuman body are not allowed.

3. Contact with the ball must be instantaneous. Actively touching the ball for morethan 1 s is considered ball holding. Inside the goal area, the goal keeper may holdthe ball for not more than 5 6 s. Physical contact may be exerted repeatedly bythe same player, if the ball is free to move between contacts for the majority ofthe time.

4. It will also be considered ball holding, if the ball cannot be removed from a robotby other players for more than 1 s. More than half of the ball’s volume must beoutside the convex hull of the robot, projected to the ground, for the ball to beconsidered removable. If the ball enters the convex hull repeatedly, it must beremovable in between for the majority of the time. If more than one robot of ateam is in the vicinity of the ball, the convex hull is taken around all the robots ofa team, which prevent removal of the ball.

12.2 Physical ContactContact between robot players is guided by the following principles:

1. Physical contact between players of different teams must be minimized.

2. If physical contact is unavoidable, the faster moving robot must make efforts tominimize the impact.

3. The goal keeper enjoys special protection inside its goal area. The attacking playeralways has to avoid to obstruct the goalie in any way. Any contact between thegoalie and an attacking player inside the goal area is considered an obstruction.During walking or standing the goal keeper is not allowed to stretch out its armsto the side, front or back to maximize the area around it which cannot be enteredby a player by making improper use of this rule.

4. Extended physical contact must be avoided. Both robots must make efforts toterminate contact, if the contact time exceeds 1 s.



5. If entangled robots fail to untangle themselves, the referee might ask designatedrobot handlers of both teams to untangle the robots. Untangling must not makesignificant changes to robot positions or heading directions. Untangled robots mustbe laid on the ground not closer than 50cm to the ball and in a way not gainingan advantage.

12.3 Attack and Defense12.3.1. Not more than one robot of each team is allowed to be inside the goal or the

goal area at any time. If more than one robot of the defending team is inside its goalor goal area for more than 10 s, this will be considered illegal defense. If more than onerobot of the attacking team is inside the opponent’s goal or goal area for more than 10 s,this will be considered illegal attack.

12.3.2. The referee may delay the call of illegal defense or illegal attack if the robotsmake serious attempts to leave the goal area or if they are hindered from leaving thegoal area by robots of the opponent team. The referee allows play to continue when theteam against which an illegal defense or illegal attack has been committed will benefitfrom such an advantage and penalizes the original offence if the anticipated advantagesdoes not ensue at that time.

12.3.3. The player committing an illegal defense or an illegal attack will be removedfrom the field for 30 seconds removal penalty. and has to re-enter the field from thecenter of the one of the two touch lines which the referee decides. It has to face thecenter of the field when entering. (Replaced by 5.9)

12.4 Indirect Free Kick12.4.1. An indirect free kick is awarded to the opposing team if a player commits any

of the following offenses in a manner considered by the referee to be careless, reckless orusing excessive force: kicking, tripping, jumping at, charging, striking, and pushing anopponent.

12.4.2. An indirect free kick is also awarded to the opposing team if a player commitsany of the following offenses:

1. tackles an opponent to gain possession of the ball, making contact with the oppo-nent before touching the ball,

2. holds an opponent,

3. holds the ball,

4. handles the ball deliberately (except for the goalkeeper within his own goal area),

5. makes an opponent fall,



6. charges an opponent, which is in control of the ball, from behind by physicalcontact exerting significant forces on this robot.

12.4.3. An indirect free kick is awarded to the opposing team if a goalkeeper, inside hisown goal area, commits any of the following offenses:

1. takes more than four steps while controlling the ball with his hands, before releasingit from his possession,

2. touches the ball again with his hands after it has been released from his possessionand has not touched any other player,

3. touches the ball with his hands after it has been deliberately kicked to him by ateam-mate,

4. wastes time,

5. blocks more than half of its goal line for more than 15s or for the majority of thetime.

12.4.4. An indirect free kick is also awarded to the opposing team if a player, in theopinion of the referee:

1. plays in a dangerous manner,

2. impedes the progress of an opponent,

3. prevents the goalkeeper from releasing the ball from his hands,

4. commits any other offense, not previously mentioned in Section 12, for which playis stopped to caution or dismiss a player.

12.4.5. An indirect free kick is taken from where the offense occurred.

12.4.6. An indirect free kick is awarded to the opposing team, if a human member of ateam, in the opinion of the referee, commits any of the following offenses:

1. interfering with the game on the field, e.g. through touching the ball while removinga robot,

2. interfering with the game remotely through wireless communication, e.g. by re-motely joysticking a robot, or sending commands to robots that convey informationabout the position of objects on the field or activate particular patterns of actionson the robots,

3. behaving otherwise in an unsportsmanlike manner.

In this case, the indirect free kick will be started from the penalty mark position in thehalf of the opponent of the awarded team.



12.4.7. All indirect and direct free kicks are replaced by time removal penaltiesto the robot committing the foul or misconduct.

1. Time penalties of 30 seconds for field players and 0 seconds for the goalie insideits goal area are called by the referee. When a penalty is called, the designatedrobot handler has to remove the robot as soon as possible and by that interactingas little as possible with the game.

2. A penalty is not called, if the punished team would take advantage of the removal,e.g. if a robot blocks a teammate that kicks the ball towards the goal.

3. A robot suffering a penalty (except called for inactivity or service) may not beserviced. A robot suffering a penalty due to a foul or misconduct has to stay outof play for a minimum of 60 seconds if it is serviced during the penalty time.

4. The referee and assistant referees are in charge of timing the penalties and notifyingthe teams to put back their robots to play.

5. A field player or goal keeper suffering a time penalty will be removed from the fieldand has to re-enter the field after the penalty time has elapsed. from the center ofthe one of the two touch lines which the referee decides. It has to face the centerof the field when entering. (Replaced by 5.9)

12.5 Yellow and Red Cards12.5.1. A player is cautioned and shown the yellow card if he commits any of the followingoffenses:

1. is guilty of unsporting behavior,

2. persistently infringes the rules,

3. delays the restart of play,

4. fails to respect the required distance when play is restarted with a free kick.

12.5.2. A player is sent off the field and shown the red card if he commits any of thefollowing offenses:

1. is guilty of serious foul play,

2. is guilty of violent conduct,

3. receives a second caution in the same match.


13 Free Kicks 22

13 Free KicksAll direct and indirect free kicks are replaced by time removal penalties to therobot committing the foul or misconduct (cf. 12.4.7).

13.1 All free kicks are indirect. The ball must be stationary when the kick is taken.The kicker may not score directly from an indirect free kick. The ball must moveat least 20cm from the position where the kick was taken or must be touchedby another player before being kicked towards the goal. If an indirect free kick iskicked directly into the opponents goal, a goal kick is awarded to the opponentteam.

13.2 All players of the team not taking the free kick must be at a distance greater than60cm (for KidSize) or 90cm (for TeenSize and AdultSize) from the ball. If, whena free kick is taken, an opponent is closer to the ball than the required distance,the kick is retaken.

13.3 The ball is in play when it is touched, or 10 seconds after the referee has given thesignal.



14 The Penalty Kick14.1 A goal may be scored directly from a penalty kick.

14.2: The player taking the penalty kick is placed at a distance of at least 1.5 ·H fromthe penalty mark.

14.3: The defending goalkeeper is placed in upright position on the middle of his goalline, facing the kicker. It must remain upright between the goalposts until the ballhas been touched by the kicker.

14.4: No other players are allowed on the field.

14.5: When both players are ready, the ball is placed randomly within 20 cm (KidSize)or 30 cm (TeenSize and Adultsize) of the penalty mark.

14.6: After the referee gives the start signal, the striker has 60 s to kick the ball once ormultiple times. After this time, the trial ends if the movement of the ball obviouslydoes not result in a goal. Otherwise, the trial is extended until the ball stops.

14.7: The striker is not allowed to touch the ball during this extension. The striker isalso not allowed to touch the ball after the ball has been touched by the goalie.

14.8: The goalie is not allowed to move forward or to fall until the ball is touched by thestriking robot.

14.9: The trial also ends if the ball stops in the marked area around the goal or leavesthe field.

14.10: Both robots are not allowed to touch or cross the line around the goal area.

14.11: If the goalie robot violates the rules in any way, the referee will let the trial continue.If the striker robot scores a goal, then the goal counts. If the striker does not scorea goal, the trial is retaken. If the goalie violates the rules after causing two restarts,a technical goal is awarded to the striker.

14.12: If the striker violates the rules in any way, the referee will let the trial continue.If the striker robot is unable to score a goal, the trial ends. If the striker scored,the trial is retaken without counting the goal. If the striker violates the rules aftercausing two restarts, the trial will end with “no goal”.

14.13: Both teams conduct five alternating trials.

• If after the first five trials none of the teams was able to kick the ball to thegoal line then the winner is determined by flipping a coin.

• If there is still a draw in knock-out games, the alternating trials continue upto five more times, until one teams leads after an equal number of trials.



• If there is still a draw in knock-out games, the alternating trials continue upto five more times without goalies, until either one striker is able to score andthe other striker fails to score or both strikers score. In the latter case, thegoal is awarded to the striker that needed the shortest time for scoring.

• If there is still a draw in knock-out games, the winner is determined by flippinga coin.


17 The Corner Kick 25

15 The Throw-InA throw-in is necessary if the ball leaves the field of play, by fully crossing a touch lineor a goal line (outside the goal posts or above the cross bar unless a goal was scored)either on the ground or in the air.

If the ball leaves the field it will be replaced on the field by the referee or an assistantreferee. There is no stoppage in play.

The positions for replacement of the ball are described in the following with respectto the touch lines and always meant to be in a distance of about 40 cm orthogonal tothe position on the touch line and inwards to the playing field.

If the whole of the ball passes over a touch line then the assistant referee will replacethe ball back on the field on the same side of the field as the ball went out of play. Theball will be replaced in one of three positions:

• If the referee cannot determine which robot was the last to touch the ball before itleft the field, then the ball is replaced directly in from the point at which the ballleft the field.

• Otherwise, the ball is placed one meter back from the point it went out, where“back” is defined as being towards the goal of the team that last touched the ball.

In any case, the ball cannot be placed closer than the length of the goal area to eitherend of the field.

If the whole of the ball passes over a goal line then the ball will be replaced back onthe field according to the following rules:

• If the referee cannot determine which robot was the last to touch the ball beforeit left the field, then the ball is replaced in about 1 meter distance from the cornerof the field.

• If the ball was last touched by the defensive team then the ball is replaced in adistance of a about the goal area length from the closest corner of the field.

• If the ball was last touched by the offensive team then the ball is placed on thehalfway line on the side of the field the ball went out.

Balls are deemed to be out based on the team that last touched the ball, irrespective ofwho actually kicked the ball.

16 The Goal KickThe goal kick is performed without stopping play according to the throw-in procedure.

17 The Corner KickThe corner kick is performed without stopping play according to the throw-in procedure.


18 The Dribble and Kick Competition (AdultSize) 26

18 The Dribble and Kick Competition (AdultSize)The dribble and kick competition is a 1 versus 1 competition between two teams. It isa kind of combination of a penalty kick and a soccer game. The striking robot startsin the middle of the playing field facing the yellow goal. The goal keeper of the otherteam is in the yellow goal. After the robots are placed, the ball is placed randomly onthe imaginary line segment in parallel to the goal lines and through the penalty mark inthe half of the field with the blue goal (that is the half behind the robot). After thereferee blows the whistle, the striker has to acquire the ball and score a goal. A goal isonly valid if the last point of contact between the striker and the ball was within the halfof the field with the yellow goal (that is the attacking robot must move the ball into theyellow half before kicking it into the goal).

The goalkeeper starts in walking posture in the middle of the goal. It is allowed tomove freely inside of the goal area. The goal keeper must remain in walking postureuntil the ball has been kicked at the goal or the ball has crossed the line parallel to thegoal line which goes through the penalty mark. The goalie is then allowed to fall to tryto block the ball. If the attempt still continues after the goal keeper has jumped for theball it has to get back into upright standing or walking posture after not later than 15seconds.

Neither robot is allowed to cross the goal box area, i.e. the defending goal keeper isnot allowed to leave the goal area as well as the attacking striker is not allowed to enterit. In one run the same robot of one team has to perform both roles of the goal keeperand the striker of its team.

The maximum time for an attempt is 2 minutes.Everything else remains the same as in the penalty kick competition.


19 The Technical Challenge 27

19 The Technical ChallengeIt is not allowed to use robots which are specialized for a specific technical challenge.Only the robots used for the soccer games are allowed to participate in thetechnical challenges. No hardware modifications of the robots are allowed forthe Technical Challenges (i.e., a robot cannot be modified from the configuration ithad in the soccer games).

The team scheduled for the technical challenge must have access to the field fiveminutes prior to the scheduled starting time. The referee will give the start signal at thescheduled time.

This year’s challenge consists of three four parts A, B,and C and D. Each of the partsA, B and C can be attempted multiple times, in any order. The team might terminatea trial at any time, in order to reattempt the same part or switch to another part of thechallenge. A trial terminates automatically when 25 minutes elapsed after the refereegave the start signal. This concludes the technical challenge for the team. The timeis taken for each of the trials, if completed successfully. The minimum time is usedfor scoring each part of parts A, B,and C and D of the challenge. The team with theminimal time receives 10 points. The second fastest team receives 7 points. The thirdfastest team receives 5 points. All other teams who successfully managed this part ofthe challenge receive 3 points. Intermediate scoring applies to parts A, B, and C andD as detailed in the following sections. The intermediate scoring rules in the technicalchallenge do only apply to the best three teams if there are no three teams which canpass the respective challenge completely.

The final score of a team’s participation in the technical challenge is the sum of thethree highest scored parts.

Robot Handlers During the Technical ChallengeIn KidSize and TeenSize robot handlers are not allowed to enter the field during thetechnical challenge, unless the referee asks them to remove a robot.

In AdultSize one robot handler is permitted to stay on the field during the trial subjectto the following restrictions:

• The robot handler is not allowed to touch the robot.

• The robot handler is not allowed to interact with the robot’s sensors in any way

In the moment the handler either touches the robot or interacts with the robot in anyway the trial is finished and counted as unsuccessful.

19.1 Part A: Throw-In ChallengeToDo: The Throw-In Challenge is to be extended to feature arbitrarily colored balls,please check further updates to the rules.

The robot starts in the center standing on the center point and facing one of the twogoals. A ball is placed 1.5 times the ball diameter outside of the field around one of the



Figure 6: Throw-in challenge with example trajectories of the robot and the ball (not toscale). A possible motion of the ball is indicated by a gray, dash-dotted line.

end points of the halfway line. The ball is placed at least 30 cm away from the nearestpole. The robot must go to the ball, move with it towards the touch line, pick it up withits hands, and throw it back from there into the field. At the moment of delivering theball, the thrower:

• faces the field of play,

• has part of each foot either on the touch line or on the ground outside the touchline,

• uses one or both hands,

• delivers the ball from behind and over its head or, if the robot cannot perform thistype of motion, it must perform the closest possible motion.

The robots are ranked by the distance the ball has been thrown into the field. It ismeasured on the line connecting the robot position at throw-in and the final position ofthe ball. The distance is taken from the intersection of this line with the center of thetouch line.

Intermediate Scoring for Throw-In



• The robot picks up the ball from the ground and holds it for at least 3 seconds.— 4 points

• The robot throws the ball. — 8 points

19.2 Part B: Obstacle Avoidance and DribblingToDo: This challenge is to be adjusted, please check further updates to the rules.

A minimum of 10 touches/kicks is required before the ball is moved over the goal line.Six black obstacles (cylinders of diameter 20 cm and height 90 cm) are put in the half ofthe field in front of the yellow goal, as defending players. In KidSize the obstacles areplaced within the area between the penalty mark and the goal. The obstacles are put atarbitrary positions by the referees, just before the start of each trial, when the robot isalready waiting at the starting position and are rearranged at each trial. The distancebetween the obstacles is at least 50 cm for KidSize and at least 100 cm for TeenSize andAdultSize. No obstacles are placed in the center circle. The ball is placed at the centermark and the robot directly behind it facing the yellow goal. The robot must reachthe goal with the ball by dribbling the ball enter in it by crossing at least once the linebetween two obstacles and by avoiding touching all obstacles. This means that it is notallowed to walk either left or right around the cluster of obstacle poles to reach the goal.The robot must dribble the ball through the obstacles in the goal. A minimum of 10touches/kicks is required before the ball is moved over the goal line.

The trial ends without success, if the robot bumps on any obstacle or if the robot orthe ball leaves the field.

The trial ends with success, if the robot touches the goal line and the ball is inside thegoal. The teams are ranked by the time needed to complete the task.

Poles are only re-arranged once the robot has actually made an effort to navigate andto dribble the ball around the poles.

Intermediate Scoring for Obstacle Avoidance and Dribbling

• Robot and ball reach the penalty area by dribbling and a minimum of 7touches/kicks. — 5 points

19.3 Part C (KidSize and TeenSize): Double PassBoth robots A and B start in one goal area of the field. The task is to perform fourspecific double passes and to play the ball into the other goal. Two black obstacle polessimulating other players are placed onto the field. The first obstacle pole is placed withina circle of 20 cm radius around the center mark and the second obstacle pole within acircle of 20 cm radius around the penalty mark. At the beginning the ball is placed ontothe penalty mark in front of the start goal area.

• The trial starts when the first robot leaves its goal area.



• The first double pass to perform is from player A to player B inside the own halfof the field.

• The second double pass to perform is from player B to player A between the firstobstacle and the own goal.

• The third double pass to perform must pass in between the two obstacles.

• The fourth double pass to perform must pass in between the second obstacle andthe other goal.

• The trial ends successfully if after the fourth double pass the receiving robot playsthe ball into the other goal.

• The ball can be dribbled in between double passes.

• The trial ends if the ball leaves the field or enters the other goal without havingperformed all double passes. The trial also ends without success if one of therobots leaves the green carpet.

Intermediate Scoring for Double Pass (between robot A and B (A: first kicking))

• 1st double pass from robot A to robot B — 0 points

• 2nd double pass from robot B to robot A — 4 points

• 3rd double pass from robot A to robot B — 6 points

• 4th double pass from robot B to robot A — 8 points

• Robot A plays the ball into the goal — 10 points

19.4 Part C (AdultSize): The FootraceThe footrace in the AdultSize consists of several runs depending on the team’s preferenceand the available time. A run goes from one touch line to the other touch line and backto the first touch line. The team places their robot in front on the border strip, outsidethe field, in front of the touch line. The robot must be in an upright standing posture.The team may use either side of the field. Different robots might be used for multipleruns.

After the referee gives the start signal, the robot walks as fast as possible acrossthe half of the field towards the opposite touch line, makes a U-turn there and walksback. The opposite touch line must be touched or crossed by each of the robot’s feet.If the robot touches the start line before the referee gave the start signal, the start isinvalid. This robot receives a warning and the start is retaken. The warnings of a teamaccumulate within a footrace. Every third warning results in an unsuccessful attempt ofa run.



Figure 7: Double pass challenge with example trajectories of the ball and the two robotplayers A and B (not to scale). A possible motion of the ball is indicated by gray lines.The four double passes are indicated by dash-dotted lines.

If the robot crosses the final touch line the time is measured. Both feet must beoutside the field on the border strip again. If a robot falls, it must get up by itself tocontinue the run.

If a robot leaves its half of the field, its run terminates at the position where it leftthe field. If 90 s after the start signal the robot does not cross the goal line, the attempthas failed. The team must place their robot in front of the start line within 60 s afterthe end of a run.

The shortest time out of all successful runs counts for the technical challenge.

19.5 Part D: High-Kicking ChallengeToDo: The high-kicking challenge has not been defined yet, please check further updatesto the rules.


20 The Competitions and Trophies 32

20 The Competitions and Trophies

20.1 Setup and InspectionsThe competitions in the Humanoid League are preceded by a setup and inspection periodof at least 24 h. During this time, every robot will be inspected by the league organizingcommittee for compliance with the design rules detailed in Section 4. All robots will bephotographed during the inspection. A reinspection becomes necessary after any changethat could affect the compliance to the design rules. A reinspection might be requestedby any team leader up to 10 minutes prior to a game.

20.2 Referee DutyEach team must name at least one person who is familiar with the rules and who mightbe assigned for referee duties by the league organizing committee.

20.3 Competitions20.3.1. The competitions consist of:

1. Soccer Games for KidSize (3 vs. 3) and TeenSize (2 vs. 2)

2. Dribble and Kick for AdultSize.

In the event of less than 3 teams participating in TeenSize the TeenSize teams will jointhe AdultSize for a joint Dribble and Kick competition.

The technical challenges consist of:

1. Throw-In Challenge (KidSize, TeenSize and AdultSize)

2. Obstacle Avoidance and Dribbling (KidSize, TeenSize and AdultSize)

3. Double Pass (KidSize and TeenSize)

4. Footrace AdultSize)

20.3.2. Both, Dribble and Kick (AdultSize) and Soccer Games (KidSize and TeenSize)are organized in one or more round robins and playoffs. For the first round robin, theteams are assigned to groups at random. All teams of a group play once against eachother. The round robin games may end in a draw. In this case, both teams receiveone point. Otherwise, the winning team receives three points and the not winning teamreceives zero points.

20.3.3. After games of a round robin have been played, the teams of a group are rankedbased on (in decreasing priority):

1. the number of earned points,



2. the goal-difference,

3. the absolute number of goals3,

4. the result of a direct match,

5. the time needed to score a penalty kick into an empty goal (up to five alternatingattempts to score, until at least one team scored),

6. the drawing of a lot.

20.3.4. At least two teams of every group will enter the next round robin or the playoffs.

20.3.5. The game plan needs to be announced prior to the random assignment of teamsto groups.

20.4 Best Humanoid20.4.1. The teams of all three size classes are ranked in separate lists to determine the

overall best humanoid.

20.4.2. The ranking is based on the aggregated number of points earned in the individualcompetitions.

20.4.3. The points earned in the technical challenge are used directly.

20.4.4. For the Dribble and Kick competitions (AdultSize) and the Soccer Games (Kid-Size and TeenSize) the winner receives 60 points. The second best team receives 42points. The third best team receives 30 points.

20.4.5. As KidSize, TeenSize and AdultSize robots do not compete directly, a jurydecides the overall best humanoid robot, 2nd best humanoid robot, 3rd best humanoidrobot. The jury consists of the team leaders of all teams, except for the teams rankedfirst in the KidSize, TeenSize and AdultSize lists. The jury decides by majority vote. Incase of a draw, the president of the RoboCup federation decides the vote.

• The teams ranked first in the KidSize, TeenSize and AdultSize lists are candi-dates for the best humanoid. The jury decides from the general picture of theperformance according to the criteria:

A. Robustness

B. Walking ability

C. Ball handling

D. Soccer skills

3Here, for each game that a team has won according to Rule 10.5 with a difference of 10 goals only10 goals are counted.



for the robot that is the best humanoid.

• Of each, KidSize, TeenSize and AdultSize, the best robot that was not chosen tobe the best humanoid robot is candidate for the 2nd best humanoid robot. Criteriaare the same as for the best humanoid.

• The robot ranked first in the KidSize, TeenSize or AdultSize lists that was notchosen for 1st or 2nd best humanoid is the 3rd best humanoid robot.

20.5 Trophies20.5.1. A trophy is awarded to the winner of each of the individual competitions and

technical challenges. In case of less than 3 teams participating in a size class no trophieswill be given in this class.

20.5.2. A trophy is awarded to the teams second and third in the KidSize 3-3 soccergame, the TeenSize 2-2 soccer games and the AdultSize Dribble and Kick competition.In case of less than 5 teams participating in a size class the team ranked third will beawarded a certificate instead of a trophy. In case of less than 4 teams participating in asize class the team ranked second will also be awarded a certificate instead of a trophy.

20.5.3. Certificates are awarded to the teams second and third in the technical challengesand to the teams ranked second and third in the Best Humanoid list.

20.5.4. The Louis Vuitton Humanoid Cup is awarded to the team ranked first in theBest Humanoid list.



A The Trend in Rule Evolution for the Next YearsIn this section the Technical Committee (TC) wants to make explicit the trends to befollowed in the rules in the next year in order to improve the scientific level of the robotsdeveloped by the RoboCup teams. The evolution of rules in the humanoid league hasbeen following a biennial schedule where major changes (like the number of players perteam) have been introduced every two years and only incremental changes every otheryear.

- The Layout of the Field

• Size of the playing field may increase with the number of players.

• Instead of the massive and specifically colored goals more natural goal shapesmay non-colored goals may eventually be introduced.

• Landmark poles and special marks on the playing field will be removed in2013.

- The Design of the Robots

• The foot size of all robots will be decreased.This is to foster the development of more advanced walking algorithms. Byreducing the size of the foot the intrinsic stability of the humanoid robot isreduced and dynamic walking is encouraged (e.g. from H2/26 in followingyears in steps of H2/28, H2/30 etc. to finally reach human-like proportions).For 20102012 the maximum foot size of 20092011 (H2/28H2/30) will beused. For 20112013 the reduction will be continued to H2/30 H2/32.

• More human like vision.In 2008 the Humanoid League has undertaken a first large step towards morehuman like vision by restricting the field of view to 180 degrees. For 2010 theTC would like to improve the rules further towards human like vision with oneor two eyes in a way that takes into account the number of cameras, theirindividual lines of sight and fields of view. (This has already been included inthe rule changes decided for 2010 by majority of team leader vote.)

- Handling of the robots.

• In the future, robot players will be removed from the field by assistent refereesin order to limit the number of humans on the field.

• Robots must feature a handle in the neck area (with a to be specified size)and must be designed in a way that they tolerate to be lifted vertically bythis handle without taking harm or causing harm to the handler.

- Rules of the Game



• The number of players in soccer games will be increased.This is to encourage team play and cooperation among humanoid robots. In2008 3 on 3 games in KidSize and in 2010 2 on 2 games in TeenSize havebeen introduced and in the following years the number of players should beincreased further.



B Human Reference DataCorresponding to the robot data of Section 4 data of a three year old girl have beenobtained during RoboCup 2009. They can serve as a reference to assist in guiding therule evolution with respect to robot design.

Height Htop 95 cmHeight, when the arm is stretched over the head 110 cmArms stretched sidewards 90 cmLength of the legs Hleg 50 cmHeight of the knee 25 cmHeight of the center of mass Hcom 55 cmDistance between shoulders 24 cmHeight of the head (from the shoulder) Hhead 23 cmArm length 25 cmDistance between the eyes 6 cmSize of one shoe (enclosing rectangle) S = 15 cm× 6.8 cm = 102 cm2

According to Eq. (1) from page 7

H = min {Htop, 2.2 ·Hcom} = min {95 cm, 2.2 · 55 cm} = 95 cm.

From H2/S = (95 cm)2/102 cm2 = 88.48 a possible target footsize limit of H2/88may result for Section 4.3 by 2050 or earlier.



AcknowledgementsThese rules evolved from previous versions of the RoboCup Humanoid League rules. Wewould like to thank Henry Yen for the conversion of the rules into a basic LaTeX versionin 2010. The 2008 version of the rules was compiled by Pasan Kulvanit and Oskar vonStryk, the 2007 version of the rules by Emanuele Menegatti and the 2006 version by SvenBehnke, who did a remarkable job improving the rule document and gearing it towardsthe FIFA Laws of the Game. The improvements of the 2005 version were compiledby Norbert Michael Mayer. Other input came earlier from the rules of the RoboCupMiddleSize and Four-Legged Leagues.

The rules were continuously discussed within the technical committee of the humanoidleague and also on the humanoid league mailing list. The following members of thetechnical committee for 2012 were responsible for the rule evolution: Carlos Acosta,Jacky Baltes, Sven Behnke, Pasan Kulvanit, Luis F. Lupian, Daniel Seifert, MingguoZhao. Special thanks go to Martin Friedmann for the contribution of several figures.
